Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays. - Mattia Risiglione; Jean-Pierre Sleiman; Maria Vittoria Minniti; Burak Çizmeci; Douwe Dresscher; Marco Hutter 001 (IROS, 2021)

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators. - Mattia Risiglione; Victor Barasuol; Darwin G. Caldwell; Claudio Semini (IROS, 2022)

Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators. - Riccardo Parosi; Mattia Risiglione; Darwin G. Caldwell; Claudio Semini; Victor Barasuol (IROS, 2023)

R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators. - Kim Tien Ly; Valeriy Semenov; Mattia Risiglione; Wolfgang Merkt; Ioannis Havoutis (ICRA, 2024)

Advancing Loco-Manipulation and Interaction of Quadruped Manipulators: Integrating Control, Perception, and Planning. - Mattia Risiglione (2024)

Multi-critic Learning for Whole-body End-effector Twist Tracking. - Aravind Elanjimattathil Vijayan; Andrei Cramariuc; Mattia Risiglione; Christian Gehring; Marco Hutter 001 (CoRR, 2025)

RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation. - Mattia Risiglione; Abdelrahman Abdalla; Victor Barasuol; Kim Tien Ly; Ioannis Havoutis; Claudio Semini (CoRR, 2025)